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Description
In this book, the control of a flexible robot with a payload at the free end is theoretically and experimentally investigated, where the arm dynamic model is obtained by applying Euler-Bernoulli beam and Lagrange s equations. The current research is mainly carried out to highlight the major problems encountered in positioning the flexible robot arm upon applying different control policies. The arm is driven by a DC-servomotor, where the hub position is measured by a rotary encoder and the deflection is detected by a strain gauge sensor. This book is mainly carried out to determine the major problems encountered in controlling flexible arm upon applying conventional controllers and to highlight the capabilities of the intelligent controllers in improving the arm dynamic response. This book was written for researchers in mechanical, electrical and Mechatronics engineering. However, it is also intended to be a practical textbook for those engineers in industry who find themselves involved in a project dealing with robot design and would like to have more-or-less self-taught refresher course. Khalil Ibrahim, Mechanical Engineering Dept., Faculty of Engineering, Assiut University, Assiut, Egypt, Ayman A. Aly El-Naggar, Head of Mechatronics Sec., College of Engineering, Taif University, Taif, Saudi Arabia, and Ahmed A. Abo Ismail, Vice president of Egypt-Japan University of Science and Technology, Egypt.
